Input conformation within macros

I have several machines that i automated to do secondary operations and i was using mach3. however i need more speed for my mills than a smooth stepper can give me. I am using Pico Systems USC. and I for the life of me cant figure out how to check my confirms ie chuck-clamp part-load, i had mach setup to do the entire load routine with one mcode and i am looking to do the same with linux. i need to check do i have parts to run and then make sure i have loaded then make sure chuck has clamped run unload repeat .

I have tried M66 for my inputs but that wasnt working and i need alot of inputs
I added in my custom-hal net part-load <= ppmc.0.din.00.in (where 00 is the input pin) and it toggles in the hal configuration fine, now with all this said how to I query the input with a IF statement in a macro?

this particular machine is a lathe with the loader and unloader mounted to the table i calll the as tools
to be honest i dont understand the ladder well enough but there has to be gcode as part of the loading routine and i am in a huge time crunch atm

i tried M66 P0 L0 Q0
o100 if [5399 EQ 1]
(MSG, no part in loc)
m2
o100 else
(MSG,run)
o100 endif

if i could get that to work i would be ok maybe i need something added to my .ini so it can ead the var but what i would like till i have more time to study the hal

is something like this ( i dont know the proper syntax so i will try and illustrate

#1 = part-load (this is the bit from net partload <= ppmc.0.din.00.iin)
o100 if [#1 LE 0]
(MSG, no part in loc)
m2
o100 else
(MSG,run)
G0 G90 G43H1 X0
Z-1.
setp ppmc.0.dout.00.out 1 (load part)
G4 P1.
setp ppmc.0.dout.01.out 1 (clamp part)
G4 P1
(some way to verify that i clamped)
setp ppmc.0.dout.00.out 0 (load part retract)
G4 P1
o100 endif

this what i cant understand how to accomplish
might be worth noting that my programming experience is with gcode and arduino ladder i havent messed with much
I really need a example that will help me to understand this because i have spent all day yesterday and have nothing that works



EDIT:
ok in the [RS274NGC] I added FEATURES=8
now

M66 P0 L0 Q0
o100 if [#5399 EQ 1] (added # )
(MSG, no part in loc)
m2
o100 else
(MSG,run)
o100 endif

this works now i need to figure out how to repeat the code untill i run out of parts

M2,M30 or M0 will work fine i just need to stop
but the big issue is how to get more inputs than the 4 or 5 the M66 will give me

is there a way to do the same thing as M66 in my custom mcode thats not M66?

and i am still having trouble looping my main code i want to loop till i run out of parts like a fanuc M99

this is the only way i could figure out how to loop my main program
if there is a better way i would love to know

now can i use the M66 in a custom Mcode ?? time to test


%
(LOOP UNTILL MAX COUNT MET)
#<MAXCOUNT> = 3 (SET TO WHAT YOU DESIRE)


o100 sub
#<C> = 0
o101 while [#<C> LE #1 ]
o200 call (CALL YOUR CODE o###)
#<C> = [#<C> + 1]
(debug,COUNT is:#<C>) (REMOVE IF YOU DONT WANT MSG)
o101 endwhile
#<C> = 0
o100 endsub

o200 sub (THIS SUB CHECKS IF THERE IS PARTS IN HOPPER)
M66 P0 L0 Q0 (CHECKS INPUTPIN DEFINED IN custom.hal)
(net part-in-loc motion.digital-out-00)
o201 if [#5399 EQ 1] (THIS IS THE M66 VAR EITHER 0-1)
#<RUN> = 1
(MSG,RUN parts)
o201 elseif [#5399 EQ 0]
#<RUN> = 0
(MSG,LOAD parts)
o201 endif
o300 call [#<RUN>]
o200 endsub

o300 sub
o310 if [#1 GE 1] (MAIN PROGRAM)
(PREP CODES)
G0 G90 G54
(MAIN CODE GOES HERE)
o310 else
M30 (M0,M2,M30 WHATEVER SUITS YOUR NEED)
o310 endif
o300 endsub


o100 call [#<MAXCOUNT>]
(MSG,PRG END)
M30
%

andypugh wrote:

mgenton85 wrote:

but the big issue is how to get more inputs than the 4 or 5 the M66 will give me

You can add more digital (and analogue) inputs via a parameter to motmod:

linuxcnc.org/docs/html/man/man9/motion.9.html

Look through your HAL file for "loadrt motmod" and add "num_dio=64" to have 64 IO pins to use.

You might want to do some of the logic in HAL. LUT5 is very useful for combining inputs into a single output.

NOTE
the location to add num_dio=64 was in my ini file
#motion control section
EMCMOT = motmod num_dio=64

I tried adding to the hal file I wasnt sure where to put it, I tried several times and control wouldnt load.
however it loads fine adding it to the ini and it works! Ii tested it before I posted the location in the ini.